Applied Mechanics and Materials Vol.

658 (2014) pp 557-562 Submitted: 2014-04-25

© (2014) Trans Tech Publications, Switzerland Revised: 2014-05-21
doi:10.4028/www.scientific.net/AMM.658.557 Accepted: 2014-05-27
Online: 2014-10-01

New Solution for Telescopic Robotic Arm

BOGDAN Laurean1, a *, TOMA Emanoil1, b

1
”Lucian Blaga” University of Sibiu, Department of Industrial Machinery and Equipment, Str. Emil
Cioran, 4, Sibiu, Romania
a*
[email protected], [email protected]

Keywords: Robotic Arm, Wires, Monomobil Telescopic Planetary Gear, PWM, Servo DC,
Microcontroller.

Abstract. This paper deals with a Robotic arm actuated by a monomobil telescopic planetary gear
and servo DC motor. Experimental model of robot was designed and manufactured at the Faculty of
Engineering from Sibiu, (Patent no. 112418 CI6.B25J 18/02). The Servo DC as actuator drives a
reel. Wires on the reel will produce displacement of telescopic modules from robotic arm structure.
The reference as a voltage for future arm displacement is provided by a PWM generator. The
rotation of the reel in one way or another has the effect of lengthening or shortening robotic arm.
Robotic arm length is directly related to the PWM signal. Control of robotic arm positioning is done
with a linear transducer.

Introduction
In a robot manipulator, there are commonly two types of joints: revolute and prismatic. The revolute
joint allows for rotation between two links about an axis, and the prismatic joint allows for
translation (sliding) motion along an axis. In a revolute joint, the link offset d is a constant while the
joint angle θ is a variable, and in a prismatic joint, the link offset d is variable and the joint angle θ
is normally zero [1].
At “Lucian Blaga” University of Sibiu, in field of robots, there is experience in cinematic
structure of robots, work space, as well as in terms of programming and control movements. The
model presented in this work, that is the programming and control of movements using PWM
techniques, is the result of a patent of invention. Experimental robot model is manufactured using a
structure with cylindrical coordinates (Fig. 2). Cylindrical coordinates allow robot arm to move in
space under coordinates. The robot is relying on cinematic structure with three movements:
Rotation-Translation-Translation. Experimental model of robot was designed and manufactured at
the Faculty of Engineering, (Patent no. 112418 CI6.B25J 18/02), (Fig.1) [2].

Fig. 1. Robot based on telescopic robotic arm

Appropriate architecture variant shown in the figure below (Fig. 2) Uses serial interconnect
couplings of rotation and translation.

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558 Advanced Concepts in Mechanical Engineering I

Fig. 2. RPP Robot. Kinematics, workspace

Structural analysis and determination of the transmission function for the planetary gears of the
movement of the telescopic monomobil telescopic mechanism is shown in Fig. 3. The translation
module is made up from two telescopic elements. It haves degree of freedom: M = 1. Degree of
freedom correspond to an independence movement SA and LM = 2-1 = 1.
SA represents input of mechanism, FA represents mechanical force. Number of external links is
equal to 2: an input SA and an output SB. The function of transmitting forces depends of SB and FB.
SB depends of SA. To determine the movement’s velocity of the robot arm, we have two situations,
when the C is fixed, respectively when the D is fixed. Due to construction, module translation
movements are fine and can reach high speeds. Because of the elastic structure of movement’s
transmission, telescopic modules are recommended to be used at works that do not exceed 30N.

Fig. 3. Monomobil telescopic planetary gear

L = 2 is the number of external connections: input (SA) and output (SB).

SB=f(SA). (1)

The mechanism has M = 1 of Force Transmission Functions:

FA=f(SA, FB). (2)

Determination of the transfer function of the movement will be done by applying superposition
principle because the functions are linear. Friction and inertia were considered negligible.

Fig. 4. Transmission speeds when the segment C is fixed.

 Applied Mechanics and Materials Vol. 658 559

Fig. 5. Transmission speeds when D segment is fixed

Corresponding figures 3 and 4 will be obtained:

SB= S CB + S DB . (3)
Where SiB is the speed of B element when i element is fixed; i∈{C, D}.
For calculus of S CB (Fig.4) we consider the mechanism having pulleys fixed axis:

S CB = i CBA ⋅ S A . (4)
i CBA = i ab i bc i cd = −1 . (5)

S CB = −S A . (6)
C
Where i BA is the ratio of transmission from “B” element to “A” element, when “C” element is
fixed. For the determination of the mobile pulley mechanism we will use Figure 5 and we will
obtain:
S DB = i DBA S A . (7)

i DBA = i ABiBC = (−1)1 / 2 = −1 / 2 . (8)

S DB = −S A . (9)
From the relations (3), (4), (5), (6), (7), (8) and (9) we get: S B = −3 / 2SA , this relationship
representing the transfer function of the gear transmission.
The Robot can make a rotation and two translations (rotation, translation and translation - RPP).
Mathematical matrix of reference transformation [A]0,n is (OZYX)0 in reference system (OZYX)n,
results three operators [P]z0,z, [R]z0,α and [P]x,r,:

[A]0,n = [P]z 0, z [R]z 0,α [P]x,r (10)

The robot is based on a modular structure. Making movements by elastic elements: belts with
cable, allows displacement on distance with high dynamic performance. The kinematics structure
allows the robot to realize movements based on wire mechanism. For each axis movement is
necessary a DC servomotors.
The displacement of the robotic arm, can be achieved independently or simultaneously
depending on software and hardware used. Telescopic mechanism of the translation module has
degree of freedom equal to 1 (Fig. 3).

The Experimental Set

The experimental set consists of: DC motor with gear ratio fixed transfer, a cable drum, an
analogical rotational encoder, robotic arm and a system for verifying accurate of displacement, (Fig.
6). The Cable drum transmits movement to the robotic arm. The value of speed “v” is depending of
rotational speed of cable drum “3” or speed of DC motor. The speed of DC motor will be constant.
The diameter of cable drum is equal to 30 mm and speed of robotic arm is 0.9 m/min.
560 Advanced Concepts in Mechanical Engineering I

Fig. 6. Structure of experimental set

1-DC Motor, 2-Gear ratio fixed transfer, 3-Cable drum, 4-Encoder, 5-robot arm,
6-Displacement verification system
The displacement verification system consists of a linear incremental encoder which provides
two digital electrical pulses for each millimeter. The value of displacement as digital pulses will be
displayed on the screen and will be used to compare with programmed displacement to see accurate
of robotic arm displacement.
The DC motor is part of servo system (Fig. 7). From microcontroller is provided PWM signal as
a value corresponding to the future value of displacement. This value will be reference signal [3].

Fig. 7. The servo DC principle

PWM signals and tests

The value of PWM is generated by a microcontroller under specific software. The experiments are
based to applying different value of PWM and controlling real displacement of robotic arm.
Simulated PWM and voltage values are presented in Fig. 8. The value of PWM voltage, increase
from 0% to 100%. Some values were selected as shown in figure.
The value of PWM voltage can be realized in any order using a program dependent on the type of
microcontroller. For experiments were used MEGA 2560 R3 microcontroller.
 Applied Mechanics and Materials Vol. 658 561

PWM 5% PWM20%

PWM50% PWM75%

PWM90% PWM95%
Fig. 8. Reference PWM simulated

Linear displacement of robotic arm will follows a speed diagram, acceleration and space as is
show in Fig. 9. The time for speed increase and decrease may be established by software. It depends
on the weight of the object to be transported by the robotic arm. For practical applications is
established speed diagram. From speed law is resulting acceleration and space profile. Speed,
acceleration and space are very important in designing and selecting DC motor. The power of DC
motor depends of gear ratio, cable drum and friction on telescopic guidance system. High
mechanical torque supposes a high ratio transfer of gear. Finally, user requirements of the robotic
arm will determine the design conditions.

Speed Acceleration Space

Fig. 9. The positioning of the robotic arm

In time of experiments the value of PWM voltage where evaluated for different positioning
desired. Normally for PWM signal can be set any value between 0% and 100%. The values of PWM
signal evaluated was: 5%, 20%, 50%, 90% and 95%. From simulated values of PWM voltage is
known the correspondence of voltage value from experiments.
Analogical encoder can realize ten turns. Analogical encoder is axial fixed to cable drum. For ten
turns similar with cable drum corresponds a linear displacement equal to 900mm. In this paper
experiments will use minimal position of encoder to 5%PWM and maximal position to 95%. The
start position of robotic arm will be 5% PWM. Protection of encoder to mechanical damage is
realized by establishing PWM voltage values: minimal (5%) end maximal (95%) (Fig.10).
562 Advanced Concepts in Mechanical Engineering I

Fig. 10. The value of PWM measured on servo DC motor

The displacement verification system provides pulses corresponding to displacement value, Fig.
11. The number of pulses from displacement verification system shows the true value of
displacement.

Fig. 11. The pulses of displacement

Summary
The Monomobil planetary telescopic gear can be a solution for implementing a robotic arm as a
module from complex structure of robots. This solution have advantage of simple linear telescopic
and translation movement. The final dimension of robotic arm will be supple. For transmitting
torque and mechanical force may be used steel wire and other materials. The new solution, have
advantage of elasticity transmitting movements and disadvantage of precision for positioning. The
evaluation of accuracy of positioning used was 0.5mm. The servo DC and PWM technique have
advantage of a simple and easy programming and control by using a microcontroller. For feedback
voltage signal may be used analogical encoder, a multiturn precision potentiometer.

References
[1] Th.R. Kurfess, Robotics and automation handbook. ISBN 0-8493-1804-1, P.E. CRC PRESS
Boca Raton, London, New York, Washington, D.C. (2005).
[2] Invention Brevet: Telescopic Arm Robot, No. 112418 B1, Int. CI. 6 B 25 J 18/02, 17.02.1997.
[3] http://www.electrical4u.com/servo-motor-servo-mechanism-theory-and-working-principle/#top
Advanced Concepts in Mechanical Engineering I
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New Solution for Telescopic Robotic Arm

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